PyRobo: 3-DOF Manipulator Simulation

PyRobo is a small Python library for simulating a 3-DOF revolute-revolute-revolute (RRR) manipulator, including kinematics, dynamics, trajectory generation, basic control, and simple 3D visualization.

Main capabilities

• Kinematics: Forward kinematics and Jacobians
• Dynamics: Mass, Coriolis/centrifugal, and gravity terms
• Trajectory: Cubic spline trajectories with via-points
• Control: Simple PD and inverse-dynamics control
• Simulation & plots: RK4 integration, joint/trajectory/energy plots

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Installation

Requirements (typical setup):

• Python ≥ 3.10
• NumPy, Matplotlib

Install in editable/development mode from the repo root:

uv sync --extra dev

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Running the examples

From the repository root:

# Example 1: Forward kinematics + animation
uv run python examples/example_1_forward_kinematics.py

# Example 2: Trajectory generation
uv run python examples/example_2_trajectory.py

# Example 3: Dynamics + energy verification
uv run python examples/example_3_dynamics.py

# Example 4: Trajectory tracking control
uv run python examples/example_4_control.py

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Tests

Run basic unit tests from the repo root:

uv run python tests/test_kinematics.py
uv run python tests/test_dynamics.py
uv run python tests/test_trajectory.py

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Notes

• Default robot parameters (masses, lengths, inertia, gravity) are defined in the model code under src/pyrobo/models/.
• Advanced symbolic derivation and code-generation scripts live in scripts/, but are not needed for normal use.

This project is intended for robotics education and experimentation.